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<div class="title">color_gradient_dot_modality.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved. </span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_COLOR_GRADIENT_DOT_MODALITY</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FEATURES_COLOR_GRADIENT_DOT_MODALITY</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/dot_modality.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/point_types.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/quantized_map.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_d_o_t_modality.html">   53</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">ColorGradientDOTModality</a></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_d_o_t_modality.html">DOTModality</a>, <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structpcl_1_1_color_gradient_d_o_t_modality_1_1_candidate.html">   59</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1_color_gradient_d_o_t_modality_1_1_candidate.html">Candidate</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <a class="code" href="structpcl_1_1_gradient_x_y.html">GradientXY</a> gradient;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keywordtype">int</span> x;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keywordtype">int</span> y;    </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keywordtype">bool</span> operator&lt; (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_color_gradient_d_o_t_modality_1_1_candidate.html">Candidate</a> &amp; rhs)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keywordflow">return</span> (gradient.magnitude &gt; rhs.gradient.magnitude);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    };</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">ColorGradientDOTModality</a> (<span class="keywordtype">size_t</span> bin_size);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">ColorGradientDOTModality</a> ();</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      setGradientMagnitudeThreshold (<span class="keyword">const</span> <span class="keywordtype">float</span> threshold)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        gradient_magnitude_threshold_ = threshold;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="comment">//inline QuantizedMap &amp;</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="comment">//getDominantQuantizedMap () </span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="comment">//{ </span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="comment">//  return (dominant_quantized_color_gradients_);</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="comment">//}</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      getDominantQuantizedMap () </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      { </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordflow">return</span> (dominant_quantized_color_gradients_);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      QuantizedMap</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      computeInvariantQuantizedMap (<span class="keyword">const</span> MaskMap &amp; mask,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                                   <span class="keyword">const</span> RegionXY &amp; region);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_d_o_t_modality.html#ab73c4e08165486d3d7ccae77d8554fc0">  105</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html#ab73c4e08165486d3d7ccae77d8554fc0">setInputCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr &amp; cloud) </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      { </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a> = cloud;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="comment">//processInputData ();</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      processInputData ();</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      computeMaxColorGradients ();</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      computeDominantQuantizedGradients ();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="comment">//void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="comment">//computeInvariantQuantizedGradients ();</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keywordtype">size_t</span> bin_size_;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordtype">float</span> gradient_magnitude_threshold_;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::GradientXY&gt;</a> color_gradients_;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <a class="code" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a> dominant_quantized_color_gradients_;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="comment">//pcl::QuantizedMap invariant_quantized_color_gradients_;</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  };</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;}</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">pcl::ColorGradientDOTModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">ColorGradientDOTModality</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> bin_size)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  : bin_size_ (bin_size), gradient_magnitude_threshold_ (80.0f), color_gradients_ (), dominant_quantized_color_gradients_ ()</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;{</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;}</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">pcl::ColorGradientDOTModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">~ColorGradientDOTModality</a> ()</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;{</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;}</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">pcl::ColorGradientDOTModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">processInputData</a> ()</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;{</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="comment">// extract color gradients</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  computeMaxColorGradients ();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="comment">// compute dominant quantized gradient map</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  computeDominantQuantizedGradients ();</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="comment">// compute invariant quantized gradient map</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="comment">//computeInvariantQuantizedGradients ();</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;}</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">pcl::ColorGradientDOTModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">computeMaxColorGradients</a> ()</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;{</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> width = input_-&gt;width;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> height = input_-&gt;height;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  color_gradients_.points.resize (width*height);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  color_gradients_.width = width;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  color_gradients_.height = height;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> pi = tan(1.0f)*4;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row_index = 0; row_index &lt; height-2; ++row_index)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col_index = 0; col_index &lt; width-2; ++col_index)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index0 = row_index*width+col_index;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index_c = row_index*width+col_index+2;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index_r = (row_index+2)*width+col_index;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="comment">//const int index_d = (row_index+1)*width+col_index+1;</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r0 = input_-&gt;points[index0].r;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g0 = input_-&gt;points[index0].g;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b0 = input_-&gt;points[index0].b;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r_c = input_-&gt;points[index_c].r;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g_c = input_-&gt;points[index_c].g;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b_c = input_-&gt;points[index_c].b;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r_r = input_-&gt;points[index_r].r;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g_r = input_-&gt;points[index_r].g;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b_r = input_-&gt;points[index_r].b;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> r_dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r_c) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r0);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> g_dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g_c) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g0);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> b_dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b_c) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b0);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> r_dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r_r) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r0);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> g_dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g_r) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g0);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> b_dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b_r) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b0);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_mag_r = r_dx*r_dx + r_dy*r_dy;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_mag_g = g_dx*g_dx + g_dy*g_dy;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_mag_b = b_dx*b_dx + b_dy*b_dy;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      GradientXY gradient;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      gradient.x = col_index;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      gradient.y = row_index;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="keywordflow">if</span> (sqr_mag_r &gt; sqr_mag_g &amp;&amp; sqr_mag_r &gt; sqr_mag_b)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        gradient.magnitude = sqrt (sqr_mag_r);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        gradient.angle = atan2 (r_dy, r_dx) * 180.0f / pi;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sqr_mag_g &gt; sqr_mag_b)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <span class="comment">//GradientXY gradient;</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        gradient.magnitude = sqrt (sqr_mag_g);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        gradient.angle = atan2 (g_dy, g_dx) * 180.0f / pi;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="comment">//gradient.x = col_index;</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="comment">//gradient.y = row_index;</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        <span class="comment">//color_gradients_ (col_index+1, row_index+1) = gradient;</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      {</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="comment">//GradientXY gradient;</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        gradient.magnitude = sqrt (sqr_mag_b);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        gradient.angle = atan2 (b_dy, b_dx) * 180.0f / pi;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <span class="comment">//gradient.x = col_index;</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="comment">//gradient.y = row_index;</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="comment">//color_gradients_ (col_index+1, row_index+1) = gradient;</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      }</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      assert (color_gradients_ (col_index+1, row_index+1).angle &gt;= -180 &amp;&amp;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;              color_gradients_ (col_index+1, row_index+1).angle &lt;=  180);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      color_gradients_ (col_index+1, row_index+1) = gradient;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;}</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="comment">//template &lt;typename PointInT&gt;</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="comment">//void</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="comment">//pcl::ColorGradientDOTModality&lt;PointInT&gt;::</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="comment">//computeInvariantQuantizedGradients ()</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="comment">//{</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="comment">//  const size_t input_width = input_-&gt;width;</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="comment">//  const size_t input_height = input_-&gt;height;</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="comment">//  const size_t output_width = input_width / bin_size;</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="comment">//  const size_t output_height = input_height / bin_size;</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="comment">//  invariant_quantized_color_gradients_.resize (output_width, output_height);</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;<span class="comment">//  size_t offset_x = 0;</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="comment">//  size_t offset_y = 0;</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="comment">//  </span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="comment">//  const size_t num_gradient_bins = 7;</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="comment">//  const size_t max_num_of_gradients = 7;</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="comment">//  </span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="comment">//  const float divisor = 180.0f / (num_gradient_bins - 1.0f);</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="comment">//  </span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="comment">//  float global_max_gradient = 0.0f;</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="comment">//  float local_max_gradient = 0.0f;</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="comment">//  </span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="comment">//  unsigned char * peak_pointer = dominant_quantized_color_gradients_.getData ();</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;<span class="comment">//  </span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="comment">//  //int tmpCounter = 0;</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="comment">//  for (size_t row_bin_index = 0; row_bin_index &lt; output_height; ++row_bin_index)</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;<span class="comment">//  {</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="comment">//    for (size_t col_bin_index = 0; col_bin_index &lt; output_width; ++col_bin_index)</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="comment">//    {</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="comment">//      std::vector&lt;int&gt; x_coordinates;</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="comment">//      std::vector&lt;int&gt; y_coordinates;</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="comment">//      std::vector&lt;float&gt; values;</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="comment">//      </span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="comment">//      for (int row_pixel_index = -static_cast&lt;int&gt; (bin_size)/2; </span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="comment">//           row_pixel_index &lt;= static_cast&lt;int&gt; (bin_size)/2; </span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="comment">//           row_pixel_index += static_cast&lt;int&gt; (bin_size)/2)</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="comment">//      {</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;<span class="comment">//        const size_t y_position = offset_y + row_pixel_index;</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;<span class="comment">//        if (y_position &lt; 0 || y_position &gt;= input_height) continue;</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;<span class="comment">//        for (int col_pixel_index = -static_cast&lt;int&gt; (bin_size)/2; </span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="comment">//             col_pixel_index &lt;= static_cast&lt;int&gt; (bin_size)/2; </span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="comment">//             col_pixel_index += static_cast&lt;int&gt; (bin_size)/2)</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="comment">//        {</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="comment">//          const size_t x_position = offset_x + col_pixel_index;</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="comment">//          size_t counter = 0;</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="comment">//          </span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="comment">//          if (x_position &lt; 0 || x_position &gt;= input_width) continue;</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="comment">//          // find maximum gradient magnitude in current bin</span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="comment">//          {</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;<span class="comment">//            local_max_gradient = 0.0f;</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="comment">//            for (size_t row_sub_index = 0; row_sub_index &lt; bin_size; ++row_sub_index)</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="comment">//            {</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="comment">//              for (size_t col_sub_index = 0; col_sub_index &lt; bin_size; ++col_sub_index)</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="comment">//              {</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;<span class="comment">//                const float magnitude = color_gradients_ (col_sub_index + x_position, row_sub_index + y_position).magnitude;</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="comment">//                if (magnitude &gt; local_max_gradient)</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="comment">//                  local_max_gradient = magnitude;</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="comment">//              }</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="comment">//            }</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="comment">//          }</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;<span class="comment">//          </span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;<span class="comment">//          //*stringPointer += localMaxGradient;</span></div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;<span class="comment">//          </span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;<span class="comment">//          if (local_max_gradient &gt; global_max_gradient)</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;<span class="comment">//          {</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;<span class="comment">//            global_max_gradient = local_max_gradient;</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;<span class="comment">//          }</span></div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="comment">//          </span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;<span class="comment">//          // iteratively search for the largest gradients, set it to -1, search the next largest ... etc.</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="comment">//          while (true)</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;<span class="comment">//          {</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="comment">//            float max_gradient;</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;<span class="comment">//            size_t max_gradient_pos_x;</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="comment">//            size_t max_gradient_pos_y;</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;<span class="comment">//            </span></div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;<span class="comment">//            // find next location and value of maximum gradient magnitude in current region</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="comment">//            {</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;<span class="comment">//              max_gradient = 0.0f;</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;<span class="comment">//              for (size_t row_sub_index = 0; row_sub_index &lt; bin_size; ++row_sub_index)</span></div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;<span class="comment">//              {</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;<span class="comment">//                for (size_t col_sub_index = 0; col_sub_index &lt; bin_size; ++col_sub_index)</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;<span class="comment">//                {</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;<span class="comment">//                  const float magnitude = color_gradients_ (col_sub_index + x_position, row_sub_index + y_position).magnitude;</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;<span class="comment">//                  if (magnitude &gt; max_gradient)</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<span class="comment">//                  {</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;<span class="comment">//                    max_gradient = magnitude;</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;<span class="comment">//                    max_gradient_pos_x = col_sub_index;</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;<span class="comment">//                    max_gradient_pos_y = row_sub_index;</span></div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="comment">//                  }</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;<span class="comment">//                }</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;<span class="comment">//              }</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;<span class="comment">//            }</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;<span class="comment">//            </span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="comment">//            // TODO: really localMaxGradient and not maxGradient???</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;<span class="comment">//            if (local_max_gradient &lt; gradient_magnitude_threshold_)</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;<span class="comment">//            {</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;<span class="comment">//              //*peakPointer |= 1 &lt;&lt; (numOfGradientBins-1);</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;<span class="comment">//              break;</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;<span class="comment">//            }</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;<span class="comment">//            </span></div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;<span class="comment">//            // TODO: replace gradient_magnitude_threshold_ here by a fixed ratio?</span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;<span class="comment">//            if (max_gradient &lt; (local_max_gradient * gradient_magnitude_threshold_) ||</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;<span class="comment">//                counter &gt;= max_num_of_gradients)</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="comment">//            {</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;<span class="comment">//              break;</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;<span class="comment">//            }</span></div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;<span class="comment">//            </span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;<span class="comment">//            ++counter;</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;<span class="comment">//            </span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;<span class="comment">//            const size_t angle = static_cast&lt;size_t&gt; (180 + color_gradients_ (max_gradient_pos_x + x_position, max_gradient_pos_y + y_position).angle + 0.5f);</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;<span class="comment">//            const size_t bin_index = static_cast&lt;size_t&gt; ((angle &gt;= 180 ? angle-180 : angle)/divisor);</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="comment">//            </span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="comment">//            *peak_pointer |= 1 &lt;&lt; bin_index;</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="comment">//            </span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;<span class="comment">//            x_coordinates.push_back (max_gradient_pos_x + x_position);</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;<span class="comment">//            y_coordinates.push_back (max_gradient_pos_y + y_position);</span></div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;<span class="comment">//            values.push_back (max_gradient);</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;<span class="comment">//            </span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;<span class="comment">//            color_gradients_ (max_gradient_pos_x + x_position, max_gradient_pos_y + y_position).magnitude = -1.0f;</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;<span class="comment">//          }</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;<span class="comment">//          </span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;<span class="comment">//          // reset values which have been set to -1</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;<span class="comment">//          for (size_t value_index = 0; value_index &lt; values.size (); ++value_index)</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;<span class="comment">//          {</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;<span class="comment">//            color_gradients_ (x_coordinates[value_index], y_coordinates[value_index]).magnitude = values[value_index];</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;<span class="comment">//          }</span></div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;<span class="comment">//          </span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;<span class="comment">//          x_coordinates.clear ();</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;<span class="comment">//          y_coordinates.clear ();</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;<span class="comment">//          values.clear ();</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;<span class="comment">//        }</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;<span class="comment">//      if (*peak_pointer == 0)</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;<span class="comment">//      {</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;<span class="comment">//        *peak_pointer |= 1 &lt;&lt; 7;</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;<span class="comment">//      //if (*peakPointer != 0)</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;<span class="comment">//      //{</span></div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;<span class="comment">//      //  ++tmpCounter;</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;<span class="comment">//      //}</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;<span class="comment">//      </span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;<span class="comment">//      //++stringPointer;</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;<span class="comment">//      ++peak_pointer;</span></div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;<span class="comment">//      </span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;<span class="comment">//      offset_x += bin_size;</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;<span class="comment">//    }</span></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;<span class="comment">//    </span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;<span class="comment">//    offset_y += bin_size;</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;<span class="comment">//    offset_x = bin_size/2+1;</span></div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;<span class="comment">//  }</span></div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;<span class="comment">//}</span></div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">pcl::ColorGradientDOTModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">computeDominantQuantizedGradients</a> ()</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;{</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> input_width = input_-&gt;width;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> input_height = input_-&gt;height;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> output_width = input_width / bin_size_;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> output_height = input_height / bin_size_;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;  dominant_quantized_color_gradients_.resize (output_width, output_height);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  <span class="comment">//size_t offset_x = 0;</span></div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  <span class="comment">//size_t offset_y = 0;</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;  </div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_gradient_bins = 7;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> max_num_of_gradients = 1;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> divisor = 180.0f / (num_gradient_bins - 1.0f);</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  </div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  <span class="keywordtype">float</span> global_max_gradient = 0.0f;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  <span class="keywordtype">float</span> local_max_gradient = 0.0f;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * peak_pointer = dominant_quantized_color_gradients_.getData ();</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  memset (peak_pointer, 0, output_width*output_height);</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  </div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  <span class="comment">//int tmpCounter = 0;</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_bin_index = 0; row_bin_index &lt; output_height; ++row_bin_index)</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  {</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_bin_index = 0; col_bin_index &lt; output_width; ++col_bin_index)</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    {</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> x_position = col_bin_index * bin_size_;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> y_position = row_bin_index * bin_size_;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;      <span class="comment">//std::vector&lt;int&gt; x_coordinates;</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      <span class="comment">//std::vector&lt;int&gt; y_coordinates;</span></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      <span class="comment">//std::vector&lt;float&gt; values;</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      </div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      <span class="comment">// iteratively search for the largest gradients, set it to -1, search the next largest ... etc.</span></div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      <span class="comment">//while (counter &lt; max_num_of_gradients)</span></div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      {</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;        <span class="keywordtype">float</span> max_gradient;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        <span class="keywordtype">size_t</span> max_gradient_pos_x;</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        <span class="keywordtype">size_t</span> max_gradient_pos_y;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;            </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <span class="comment">// find next location and value of maximum gradient magnitude in current region</span></div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        {</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;          max_gradient = 0.0f;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_sub_index = 0; row_sub_index &lt; bin_size_; ++row_sub_index)</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;          {</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_sub_index = 0; col_sub_index &lt; bin_size_; ++col_sub_index)</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;            {</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;              <span class="keyword">const</span> <span class="keywordtype">float</span> magnitude = color_gradients_ (col_sub_index + x_position, row_sub_index + y_position).magnitude;</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160; </div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;              <span class="keywordflow">if</span> (magnitude &gt; max_gradient)</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;              {</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;                max_gradient = magnitude;</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;                max_gradient_pos_x = col_sub_index;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;                max_gradient_pos_y = row_sub_index;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;              }</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;            }</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;          }</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        }</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;            </div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;        <span class="keywordflow">if</span> (max_gradient &gt;= gradient_magnitude_threshold_)</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        {</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">size_t</span> angle = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (180 + color_gradients_ (max_gradient_pos_x + x_position, max_gradient_pos_y + y_position).angle + 0.5f);</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">size_t</span> bin_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> ((angle &gt;= 180 ? angle-180 : angle)/divisor);</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;            </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;          *peak_pointer |= 1 &lt;&lt; bin_index;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        }</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;            </div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        <span class="comment">//++counter;</span></div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;            </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        <span class="comment">//x_coordinates.push_back (max_gradient_pos_x + x_position);</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        <span class="comment">//y_coordinates.push_back (max_gradient_pos_y + y_position);</span></div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        <span class="comment">//values.push_back (max_gradient);</span></div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;            </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;        <span class="comment">//color_gradients_ (max_gradient_pos_x + x_position, max_gradient_pos_y + y_position).magnitude = -1.0f;</span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;      }</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;      <span class="comment">//for (size_t value_index = 0; value_index &lt; values.size (); ++value_index)</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      <span class="comment">//{</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;      <span class="comment">//  color_gradients_ (x_coordinates[value_index], y_coordinates[value_index]).magnitude = values[value_index];</span></div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;      <span class="comment">//}</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      <span class="keywordflow">if</span> (*peak_pointer == 0)</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      {</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;        *peak_pointer |= 1 &lt;&lt; 7;</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      }</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      <span class="comment">//if (*peakPointer != 0)</span></div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;      <span class="comment">//{</span></div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      <span class="comment">//  ++tmpCounter;</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;      <span class="comment">//}</span></div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;      </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      <span class="comment">//++stringPointer;</span></div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;      ++peak_pointer;</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;      </div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      <span class="comment">//offset_x += bin_size;</span></div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    }</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    </div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;    <span class="comment">//offset_y += bin_size;</span></div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    <span class="comment">//offset_x = bin_size/2+1;</span></div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  }</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;}</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;<a class="code" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a></div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">pcl::ColorGradientDOTModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_d_o_t_modality.html">computeInvariantQuantizedMap</a> (<span class="keyword">const</span> MaskMap &amp; mask,</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;                              <span class="keyword">const</span> RegionXY &amp; region)</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;{</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> input_width = input_-&gt;width;</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> input_height = input_-&gt;height;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160; </div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> output_width = input_width / bin_size_;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> output_height = input_height / bin_size_;</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160; </div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> sub_start_x = region.x / bin_size_;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> sub_start_y = region.y / bin_size_;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> sub_width = region.width / bin_size_;</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> sub_height = region.height / bin_size_;</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160; </div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  QuantizedMap map;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  map.resize (sub_width, sub_height);</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;  <span class="comment">//size_t offset_x = 0;</span></div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  <span class="comment">//size_t offset_y = 0;</span></div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  </div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_gradient_bins = 7;</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> max_num_of_gradients = 7;</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;  </div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> divisor = 180.0f / (num_gradient_bins - 1.0f);</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;  </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  <span class="keywordtype">float</span> global_max_gradient = 0.0f;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  <span class="keywordtype">float</span> local_max_gradient = 0.0f;</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  </div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * peak_pointer = map.getData ();</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  <span class="comment">//int tmpCounter = 0;</span></div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_bin_index = 0; row_bin_index &lt; sub_height; ++row_bin_index)</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  {</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_bin_index = 0; col_bin_index &lt; sub_width; ++col_bin_index)</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    {</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      std::vector&lt;size_t&gt; x_coordinates;</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;      std::vector&lt;size_t&gt; y_coordinates;</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;      std::vector&lt;float&gt; values;</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;      </div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row_pixel_index = -<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (bin_size_)/2; </div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;           row_pixel_index &lt;= static_cast&lt;int&gt; (bin_size_)/2; </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;           row_pixel_index += <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (bin_size_)/2)</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;      {</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> y_position = <span class="comment">/*offset_y +*/</span> row_pixel_index + (sub_start_y + row_bin_index)*bin_size_;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160; </div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;        <span class="keywordflow">if</span> (y_position &lt; 0 || y_position &gt;= input_height) </div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160; </div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col_pixel_index = -<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (bin_size_)/2; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;             col_pixel_index &lt;= static_cast&lt;int&gt; (bin_size_)/2; </div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;             col_pixel_index += <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (bin_size_)/2)</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;        {</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">size_t</span> x_position = <span class="comment">/*offset_x +*/</span> col_pixel_index + (sub_start_x + col_bin_index)*bin_size_;</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;          <span class="keywordtype">size_t</span> counter = 0;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;          </div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;          <span class="keywordflow">if</span> (x_position &lt; 0 || x_position &gt;= input_width) </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160; </div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;          <span class="comment">// find maximum gradient magnitude in current bin</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;          {</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;            local_max_gradient = 0.0f;</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_sub_index = 0; row_sub_index &lt; bin_size_; ++row_sub_index)</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;            {</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;              <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_sub_index = 0; col_sub_index &lt; bin_size_; ++col_sub_index)</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;              {</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;                <span class="keyword">const</span> <span class="keywordtype">float</span> magnitude = color_gradients_ (col_sub_index + x_position, row_sub_index + y_position).magnitude;</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160; </div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;                <span class="keywordflow">if</span> (magnitude &gt; local_max_gradient)</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;                  local_max_gradient = magnitude;</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;              }</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;            }</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;          }</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;          </div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;          <span class="comment">//*stringPointer += localMaxGradient;</span></div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;          </div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;          <span class="keywordflow">if</span> (local_max_gradient &gt; global_max_gradient)</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;          {</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;            global_max_gradient = local_max_gradient;</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;          }</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;          </div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;          <span class="comment">// iteratively search for the largest gradients, set it to -1, search the next largest ... etc.</span></div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;          <span class="keywordflow">while</span> (<span class="keyword">true</span>)</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;          {</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;            <span class="keywordtype">float</span> max_gradient;</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;            <span class="keywordtype">size_t</span> max_gradient_pos_x;</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;            <span class="keywordtype">size_t</span> max_gradient_pos_y;</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;            </div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;            <span class="comment">// find next location and value of maximum gradient magnitude in current region</span></div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;            {</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;              max_gradient = 0.0f;</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;              <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_sub_index = 0; row_sub_index &lt; bin_size_; ++row_sub_index)</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;              {</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;                <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_sub_index = 0; col_sub_index &lt; bin_size_; ++col_sub_index)</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;                {</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">float</span> magnitude = color_gradients_ (col_sub_index + x_position, row_sub_index + y_position).magnitude;</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160; </div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;                  <span class="keywordflow">if</span> (magnitude &gt; max_gradient)</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;                  {</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;                    max_gradient = magnitude;</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;                    max_gradient_pos_x = col_sub_index;</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;                    max_gradient_pos_y = row_sub_index;</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;                  }</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;                }</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;              }</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;            }</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;            </div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;            <span class="comment">// TODO: really localMaxGradient and not maxGradient???</span></div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;            <span class="keywordflow">if</span> (local_max_gradient &lt; gradient_magnitude_threshold_)</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;            {</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;              <span class="comment">//*peakPointer |= 1 &lt;&lt; (numOfGradientBins-1);</span></div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;            }</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;            </div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;            <span class="comment">// TODO: replace gradient_magnitude_threshold_ here by a fixed ratio?</span></div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;            <span class="keywordflow">if</span> (<span class="comment">/*max_gradient &lt; (local_max_gradient * gradient_magnitude_threshold_) ||*/</span></div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;                counter &gt;= max_num_of_gradients)</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;            {</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;            }</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;            </div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;            ++counter;</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;            </div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">size_t</span> angle = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (180 + color_gradients_ (max_gradient_pos_x + x_position, max_gradient_pos_y + y_position).angle + 0.5f);</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">size_t</span> bin_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> ((angle &gt;= 180 ? angle-180 : angle)/divisor);</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;            </div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;            *peak_pointer |= 1 &lt;&lt; bin_index;</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;            </div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;            x_coordinates.push_back (max_gradient_pos_x + x_position);</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;            y_coordinates.push_back (max_gradient_pos_y + y_position);</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;            values.push_back (max_gradient);</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;            </div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;            color_gradients_ (max_gradient_pos_x + x_position, max_gradient_pos_y + y_position).magnitude = -1.0f;</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;          }</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;          </div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;          <span class="comment">// reset values which have been set to -1</span></div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> value_index = 0; value_index &lt; values.size (); ++value_index)</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;          {</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;            color_gradients_ (x_coordinates[value_index], y_coordinates[value_index]).magnitude = values[value_index];</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;          }</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;          </div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;          x_coordinates.clear ();</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;          y_coordinates.clear ();</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;          values.clear ();</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;        }</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;      }</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160; </div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;      <span class="keywordflow">if</span> (*peak_pointer == 0)</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;      {</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;        *peak_pointer |= 1 &lt;&lt; 7;</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;      }</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160; </div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;      <span class="comment">//if (*peakPointer != 0)</span></div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;      <span class="comment">//{</span></div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;      <span class="comment">//  ++tmpCounter;</span></div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;      <span class="comment">//}</span></div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;      </div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;      <span class="comment">//++stringPointer;</span></div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;      ++peak_pointer;</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;      </div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;      <span class="comment">//offset_x += bin_size;</span></div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;    }</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;    </div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;    <span class="comment">//offset_y += bin_size;</span></div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;    <span class="comment">//offset_x = bin_size/2+1;</span></div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;  }</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160; </div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;  <span class="keywordflow">return</span> map;</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;}</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160; </div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_d_o_t_modality_html"><div class="ttname"><a href="classpcl_1_1_color_gradient_d_o_t_modality.html">pcl::ColorGradientDOTModality</a></div><div class="ttdef"><b>Definition:</b> color_gradient_dot_modality.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_d_o_t_modality_html_ab73c4e08165486d3d7ccae77d8554fc0"><div class="ttname"><a href="classpcl_1_1_color_gradient_d_o_t_modality.html#ab73c4e08165486d3d7ccae77d8554fc0">pcl::ColorGradientDOTModality::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const typename PointCloudIn::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)</div><div class="ttdef"><b>Definition:</b> color_gradient_dot_modality.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1_d_o_t_modality_html"><div class="ttname"><a href="classpcl_1_1_d_o_t_modality.html">pcl::DOTModality</a></div><div class="ttdef"><b>Definition:</b> dot_modality.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_quantized_map_html"><div class="ttname"><a href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a></div><div class="ttdef"><b>Definition:</b> quantized_map.h:47</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_color_gradient_d_o_t_modality_1_1_candidate_html"><div class="ttname"><a href="structpcl_1_1_color_gradient_d_o_t_modality_1_1_candidate.html">pcl::ColorGradientDOTModality::Candidate</a></div><div class="ttdef"><b>Definition:</b> color_gradient_dot_modality.h:60</div></div>
<div class="ttc" id="astructpcl_1_1_gradient_x_y_html"><div class="ttname"><a href="structpcl_1_1_gradient_x_y.html">pcl::GradientXY</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the intensity value.</div><div class="ttdef"><b>Definition:</b> point_types.h:52</div></div>
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